Development of plug-in grafting robotic system

This study attempts to develop an automatic production system for grafted seedlings on the basis of the “plug-in method”. The procedures of the “plug-in method” are as follows: 1) for the scion, a stem is shaped in a form of plug similar to a pencil-tip; and 2) for the stock, a stem is drilled to make a conical hole. We have constructed a grafting robot system to perform the “plug-in method” on the basis of the seedling characteristics and the structure and physical properties inside the stem. It has been demonstrated that the proposed technique of cutting vegetative materials using an ultrasonic level vibrating blade can reduce the damage to the vegetative tissue when cutting